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Control of a biped locomotion system in a double support phase

Published online by Cambridge University Press:  09 March 2009

Tatsuo Narikiyo  and
Masami Ito
Tatsuo Narikiyo
Affiliation:
Government Industrial Research Institute, Kyushu, Shukumachi, Tosu, Saga, 841 (Japan)
Masami Ito
Affiliation:
Automatic Control Laboratory, Faculty of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464 (Japan)
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Extract

This paper considers theoretically and experimentally the control problem of the biped locomotion system on the double support phase. The motion on the double support phase is described by the constrained dynamic system with two static constraints. The reduced order equations are derived by eliminating Lagrange's multiplier from the constrained equations, and a control algorithm for stabilizing the motion is obtained in reduced space. Finally, this algorithm is applied to an actual robot constructed in our laboratory and its usefulness is shown.

Type
Article
Information
Robotica , Volume 3 , Issue 2 , April 1985 , pp. 73 - 77
Copyright
Copyright © Cambridge University Press 1985

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References

1Hemami, H. and Wyman, B.F., “Modeling and Control of Constrained Dynamic Systems with Application to Biped Locomotion in the Frontal Plane” IEEE AC–24, No. 4, 526–535 (1979).Google Scholar
2Narikiyo, T. and Ito, M., “Analysis of Constrained Dynamic System via Penalty Function Method with Application to Biped Locomotion” Proceedings of the 8-th International Congress of Biomechanics, BIOMECHANICS VIII–B (Human Kinetics Publishers, Champaign, Illinois, 1983) pp. 1129–1137.Google Scholar